CN109986545A - A kind of transmission rope pre-tightening apparatus of rope driving mechanical arm - Google Patents
A kind of transmission rope pre-tightening apparatus of rope driving mechanical arm Download PDFInfo
- Publication number
- CN109986545A CN109986545A CN201910348774.6A CN201910348774A CN109986545A CN 109986545 A CN109986545 A CN 109986545A CN 201910348774 A CN201910348774 A CN 201910348774A CN 109986545 A CN109986545 A CN 109986545A
- Authority
- CN
- China
- Prior art keywords
- block
- rope
- mounting plate
- directive wheel
- mechanical arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000005540 biological transmission Effects 0.000 title claims abstract description 33
- 230000036316 preload Effects 0.000 claims abstract description 15
- 239000000758 substrate Substances 0.000 claims abstract description 14
- 230000001105 regulatory effect Effects 0.000 claims abstract description 9
- 238000009434 installation Methods 0.000 claims description 2
- 210000000245 forearm Anatomy 0.000 description 8
- 238000010586 diagram Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000002040 relaxant effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
- B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to robot driven by ropes people fields.Purpose is to provide a kind of transmission rope pre-tightening apparatus of rope driving mechanical arm, which should have the characteristics that structure is simple, easy to adjust, good reliability.Technical solution is: a kind of transmission rope pre-tightening apparatus of rope driving mechanical arm, it is characterised in that: the device include the preloads block mounting plate being fixed on substrate, be rotatably positioned pre-tighten the first directive wheel on block mounting plate, be slidably located in the preloads block pre-tightened on block mounting plate, be rotatably positioned pre-tighten the second directive wheel on block, for pushing preload block to install the regulating mechanism that moves of plate surface along preload block；The regulating mechanism includes the link block being fixed on pre-tighten on block mounting plate, the adjustment hole pre-tightened on block, the adjusting bolt for being rotatably positioned on link block and engaging with adjustment hole screw thread is arranged in.
Description
Technical field
The present invention relates to robot driven by ropes people field, the transmission rope pre-tightening apparatus of specifically a kind of rope driving mechanical arm.
Background technique
Nowadays mechanical arm is very widely used in extensive high-precision processing.General mechanical arm is due to its limitation
Property, the needs of certain specific occasions are unable to satisfy, therefore more and more scholars have turned to sight the mechanical arm of Flexible Transmission
On.The characteristics of rope is a kind of reliable Flexible Transmission medium, light weight can not only reduce the weight in joint, but also pass
The vibration generated during dynamic is also smaller, while can also reach the precision of positive drive, is very suitable for long-distance transmission.
Using in the mechanical arm of rope drive, rope generallys use wirerope, and wirerope during exercise can be due to relaxing
Winding can also generate extrusion deformation because of stress, or even broken silk occur, shorten the service life of wirerope, and be based on opening
The requirement of clamp force, it is necessary to configure a pre-tightening apparatus, not only to provide stable pretightning force, but also will be according to the negative of mechanical arm
It carries situation and easily adjusts rope tension.
As shown in figure 8, existing pre-tightening apparatus design is not reasonable, transmission rope 4-2 and the edge of cord hole 9 can be in contact
And there is larger bending (as shown in Figure 8), transmission rope is easy to happen abrasion by biggish frictional force during exercise, not only influences
The normal work of transmission rope, and shorten the service life of transmission rope.Therefore one structure of design is simple, practical performance
Well, it is very important conducive to the pre-tightening apparatus of transmission.
Summary of the invention
The purpose of the present invention is overcome the shortcomings of that the transmission rope that a kind of rope driving mechanical arm is provided in above-mentioned background technique is pre-
Tight device, the device should have the characteristics that structure is simple, easy to adjust, good reliability.
The technical scheme is that
A kind of transmission rope pre-tightening apparatus of rope driving mechanical arm, it is characterised in that: the device includes being fixed on substrate
It pre-tightens block mounting plate, the first directive wheel being rotatably positioned on preload block mounting plate, be slidably located in preload block peace
Preload block in loading board is rotatably positioned and is pre-tightening the second directive wheel on block, pre-tightening block along pre-tightening block peace for pushing
The mobile regulating mechanism in loading board surface；The regulating mechanism includes the link block being fixed on pre-tighten on block mounting plate, is arranged pre-
The tightly adjustment hole on block, the adjusting bolt for being rotatably positioned on link block and being engaged with adjustment hole screw thread.
The preload block mounting plate is equipped with sliding slot, pre-tightens block and is equipped with the sliding block cooperated with sliding slot；The adjusting bolt
Length direction be parallel to the length direction of sliding slot.
The length direction of the sliding slot is perpendicular to substrate；The pivot center of first directive wheel and turning for the second directive wheel
Shaft line is parallel to each other and plane also parallel with substrate.
First directive wheel includes the first support shaft being vertically fixed on pre-tighten on block mounting plate and rotationally determines
First axle sleeve of the position in the first support shaft；Second directive wheel include be vertically fixed on pre-tighten block on the second support shaft with
And it is rotatably positioned the second axle sleeve in the second support shaft.
The beneficial effects of the present invention are:
It the composite can be widely applied to such as robot driven by ropes people, the numerous rope driving fields for needing to be tensioned of rope driving mechanical arm
It closes, the contact between transmission rope and hole is avoided by the transitional function of two directive wheels, and realize biography by regulating mechanism
The tensioning of running rope greatly reduces deflection and frictional force that transmission rope generates during operation, improves whole device
Service life and reliability.
Detailed description of the invention
Fig. 1 is one of schematic perspective view of the invention.
Fig. 2 is the two of schematic perspective view of the invention.
Fig. 3 is enlarged structure schematic diagram of the invention.
Fig. 4 is the enlarged structure schematic diagram that block mounting plate is pre-tightened in the present invention.
Fig. 5 is the enlarged structure schematic diagram that block is pre-tightened in the present invention.
Fig. 6 is one of working state schematic representation of the invention (rope is in relaxed state).
Fig. 7 is two (rope is in tensioning state) of working state schematic representation of the invention.
Fig. 8 is the transmission rope working state schematic representation before improving.
Fig. 9 is one of the schematic perspective view of rope driving mechanical arm.
Figure 10 is the two of the schematic perspective view of rope driving mechanical arm.
Specific embodiment
Below in conjunction with Figure of description, the invention will be further described, but the invention is not limited to following embodiments.
As shown in Figure 1, a kind of transmission rope pre-tightening apparatus of rope driving mechanical arm, including pre-tighten block mounting plate 8-1, pre-tighten block
8-2, the first directive wheel, the second directive wheel and regulating mechanism.
The preload block mounting plate is fixed on substrate 1 (plane of two boards is mutually perpendicular to), pre-tightens and sets on block mounting plate
There is sliding slot 8-1-8, the length direction of sliding slot is perpendicular to substrate.First directive wheel, which is rotatably positioned, is pre-tightening block mounting plate
On, the pivot center of the first directive wheel is parallel to the plane of substrate.
The preload block is equipped with the sliding block 8-2-8 of insertion sliding slot, has separately had the sliding block gasket 8-5 of position-limiting action to pass through cunning
Block bolt 8-4 is fixed on sliding block that (sliding block gasket and the sliding block diameter of bolt are greater than trough width, and sliding block is avoided to take off from sliding slot
Out), the length (i.e. the length of sliding block left and right directions in Fig. 5) of sliding block is slightly larger than the thickness for pre-tightening block mounting plate, to pass through cunning
The cooperation of slot and sliding block can ensure that pre-tightening block is pre-tightening block installation plate surface movement.Second directive wheel is rotatably positioned
It pre-tightens on block, the pivot center of the second directive wheel is parallel to the pivot center of the first directive wheel.
First directive wheel, the position of the second directive wheel are corresponding with the position of cord hole on substrate.First guiding
Wheel includes the first support shaft 8-1-2 and the first axle sleeve 8-1-5, and the first support shaft, which is vertically fixed on, to be pre-tightened on block mounting plate, and first
Axle sleeve is rotatably positioned in the first support shaft；First flap is additionally provided in first support shaft for limiting the axis of the first axle sleeve
To displacement, first flap 8-1-4 is fixed in the first support shaft by the first screw 8-1-3, so that the first axle sleeve can only rotate.
Second directive wheel includes that the second support shaft 8-2-2 and the second axle sleeve 8-2-5, the second support shaft are vertically fixed on preload block
On, the second axle sleeve is rotatably positioned in the second support shaft；Second flap is additionally provided in second support shaft for limiting second
The axial displacement of axle sleeve, second flap 8-2-3 is fixed in the second support shaft by the second screw 8-2-4, so that the second axle sleeve
It can only rotate.
The regulating mechanism includes link block 8-1-6 and adjusting bolt 8-3.The link block, which is fixed on, pre-tightens block mounting plate
On, it pre-tightens block and is equipped with adjustment hole 8-2-7 (adjustment hole is equipped with internal screw thread), adjust bolt and engaged with adjustment hole screw thread, adjust spiral shell
The front end of bolt is rotationally resisted against on link block after adjustment hole and (transmission rope on the second directive wheel is forced in, by pre-
Pressure is passed to adjusting bolt by tight block, so that the front end for adjusting bolt is resisted against on link block always), adjust the length of bolt
It is oriented parallel to the length direction of sliding slot.
The working principle of the invention is:
As shown in Figure 9 and Figure 10, in the structure of rope driving mechanical arm, large arm 7 is rotationally hinged on substrate, in large arm
Equipped with large arm rope sheave 5.1 (large arm rope sheave and the articulated shaft of large arm are coaxially fixed), forearm 6 is rotationally hinged in large arm, small
Arm is equipped with forearm rope sheave 5.2, and (articulated shaft of forearm rope sheave and forearm is coaxially fixed；Forearm is also fixed with the articulated shaft of forearm),
Base plate bottom is set there are two fixed rope sheave 3, and each fixed rope sheave is respectively driven by a motor 2, and forearm rope sheave is solid with one of them
Determine between rope sheave and large arm rope sheave and another fix between rope sheave and be wound with transmission rope 4 respectively, substrate is equipped with for transmission
The cord hole 9 that rope passes through.When motor drives the rotation of fixed rope wheel, fixed rope sheave drives large arm rope sheave or forearm rope sheave by transmission rope
Rotation, to realize the movement of mechanical arm.
Two transmission rope pre-tightening apparatus, the corresponding transmission of each transmission rope pre-tightening apparatus is respectively set in the base plate bottom
Rope.Transmission rope is after around the first directive wheel and the second directive wheel, directly through the cord hole of substrate, will not cord hole edge with it is interior
Wall is in contact；When transmission rope loosens, (as shown in Figure 6) or needs adjust tension according to load requirement, rotation adjusts spiral shell
Bolt adjusts the position for pre-tightening block, to change the spacing of two directive wheels, achievees the purpose that transmission rope is made to be tensioned or loosen.
Claims (4)
1. a kind of transmission rope pre-tightening apparatus of rope driving mechanical arm, it is characterised in that: the device includes being fixed on substrate (1)
It pre-tightens block mounting plate (8-1), the first directive wheel being rotatably positioned on preload block mounting plate, be slidably located in preload
Preload block (8-2) on block mounting plate, be rotatably positioned pre-tighten the second directive wheel on block, for push pre-tighten block along
Pre-tighten the mobile regulating mechanism of block installation plate surface；The regulating mechanism includes being fixed on the link block pre-tightened on block mounting plate
(8-1-6), the adjustment hole (8-2-7) pre-tightened on block is set, is rotatably positioned on link block and is nibbled with adjustment hole screw thread
The adjusting bolt (8-3) of conjunction.
2. a kind of transmission rope pre-tightening apparatus of rope driving mechanical arm according to claim 1, it is characterised in that: the preload
Block mounting plate is equipped with sliding slot (8-1-8), pre-tightens block and is equipped with the sliding block (8-2-8) cooperated with sliding slot；The adjusting bolt
Length direction is parallel to the length direction of sliding slot.
3. a kind of transmission rope pre-tightening apparatus of rope driving mechanical arm according to claim 2, it is characterised in that: the sliding slot
Length direction perpendicular to substrate；The pivot center of first directive wheel and the pivot center of the second directive wheel are parallel to each other simultaneously
And also parallel with the plane of substrate.
4. a kind of transmission rope pre-tightening apparatus of rope driving mechanical arm according to claim 3, it is characterised in that: described first
Directive wheel includes being vertically fixed on the first support shaft (8-1-2) pre-tightened on block mounting plate and being rotatably positioned at first
Support the first axle sleeve (8-1-5) on axis；Second directive wheel includes being vertically fixed on the second support shaft (8-2- pre-tightened on block
And the second axle sleeve (8-2-5) for being rotatably positioned in the second support shaft 2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910348774.6A CN109986545A (en) | 2019-04-28 | 2019-04-28 | A kind of transmission rope pre-tightening apparatus of rope driving mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910348774.6A CN109986545A (en) | 2019-04-28 | 2019-04-28 | A kind of transmission rope pre-tightening apparatus of rope driving mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109986545A true CN109986545A (en) | 2019-07-09 |
Family
ID=67133223
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910348774.6A Pending CN109986545A (en) | 2019-04-28 | 2019-04-28 | A kind of transmission rope pre-tightening apparatus of rope driving mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109986545A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110883765A (en) * | 2019-11-11 | 2020-03-17 | 清华大学 | But manual tensioning ware of line drive dexterous of automatically regulated elasticity |
| CN113040943A (en) * | 2021-03-24 | 2021-06-29 | 合肥工业大学 | Flexible laparoscope actuator based on serial elastic element and continuum configuration |
| CN113103276A (en) * | 2021-03-16 | 2021-07-13 | 广东省科学院智能制造研究所 | Flexibly-driven joint module of cooperative mechanical arm |
| CN114633252A (en) * | 2022-03-21 | 2022-06-17 | 米科特医疗科技(苏州)有限公司 | Rope-driven joint pre-tightening force adjusting device |
| WO2023151451A1 (en) * | 2022-02-14 | 2023-08-17 | 极限人工智能有限公司 | Instrument driving module, surgery power device, and split-type surgical device |
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| JPH04183580A (en) * | 1990-11-15 | 1992-06-30 | Canon Inc | Orthogonal biaxial moving device |
| US20030102640A1 (en) * | 2001-11-30 | 2003-06-05 | National Inst. Of Advanced Ind. Science And Tech. | Holding device |
| DE102006016958A1 (en) * | 2006-04-11 | 2007-10-25 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Antagonistic rotating device, especially for moving robot hand elements, has force transmission unit formed in such way that both drive units can act as agonists to apply rotational moment in same direction to joint element |
| CN104708635A (en) * | 2013-12-17 | 2015-06-17 | 现代自动车株式会社 | Apparatus for driving wearable robot |
| CN105563478A (en) * | 2016-03-21 | 2016-05-11 | 上海卓道医疗科技有限公司 | Long-distance transmission system for robot |
| CN107120397A (en) * | 2017-06-16 | 2017-09-01 | 天津大学 | Optical engine belt tensioner |
| CN109352639A (en) * | 2018-10-08 | 2019-02-19 | 南京航空航天大学 | A kind of underwater rope driving mechanical arm system that Autonomous Underwater vehicle carries |
| CN210115915U (en) * | 2019-04-28 | 2020-02-28 | 浙江理工大学 | Transmission rope pre-tightening device of rope-driven mechanical arm |
-
2019
- 2019-04-28 CN CN201910348774.6A patent/CN109986545A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04183580A (en) * | 1990-11-15 | 1992-06-30 | Canon Inc | Orthogonal biaxial moving device |
| US20030102640A1 (en) * | 2001-11-30 | 2003-06-05 | National Inst. Of Advanced Ind. Science And Tech. | Holding device |
| DE102006016958A1 (en) * | 2006-04-11 | 2007-10-25 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Antagonistic rotating device, especially for moving robot hand elements, has force transmission unit formed in such way that both drive units can act as agonists to apply rotational moment in same direction to joint element |
| CN104708635A (en) * | 2013-12-17 | 2015-06-17 | 现代自动车株式会社 | Apparatus for driving wearable robot |
| CN105563478A (en) * | 2016-03-21 | 2016-05-11 | 上海卓道医疗科技有限公司 | Long-distance transmission system for robot |
| CN107120397A (en) * | 2017-06-16 | 2017-09-01 | 天津大学 | Optical engine belt tensioner |
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| CN210115915U (en) * | 2019-04-28 | 2020-02-28 | 浙江理工大学 | Transmission rope pre-tightening device of rope-driven mechanical arm |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110883765A (en) * | 2019-11-11 | 2020-03-17 | 清华大学 | But manual tensioning ware of line drive dexterous of automatically regulated elasticity |
| CN110883765B (en) * | 2019-11-11 | 2020-12-11 | 清华大学 | But manual tensioning ware of line drive dexterous of automatically regulated elasticity |
| CN113103276A (en) * | 2021-03-16 | 2021-07-13 | 广东省科学院智能制造研究所 | Flexibly-driven joint module of cooperative mechanical arm |
| CN113103276B (en) * | 2021-03-16 | 2022-12-06 | 广东省科学院智能制造研究所 | Flexibly-driven joint module of cooperative mechanical arm |
| CN113040943A (en) * | 2021-03-24 | 2021-06-29 | 合肥工业大学 | Flexible laparoscope actuator based on serial elastic element and continuum configuration |
| WO2023151451A1 (en) * | 2022-02-14 | 2023-08-17 | 极限人工智能有限公司 | Instrument driving module, surgery power device, and split-type surgical device |
| CN114633252A (en) * | 2022-03-21 | 2022-06-17 | 米科特医疗科技(苏州)有限公司 | Rope-driven joint pre-tightening force adjusting device |
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Effective date of registration: 20231101 Address after: 310018 No. 2 street, Baiyang street, Xiasha Higher Education Park, Hangzhou, Zhejiang, China 928 Applicant after: ZHEJIANG SCI-TECH University Applicant after: Zhejiang Provincial Natural Gas Development Co.,Ltd. Address before: 310018 No. 2 street, Baiyang street, Xiasha Higher Education Park, Hangzhou, Zhejiang, China 928 Applicant before: ZHEJIANG SCI-TECH University Applicant before: ZHEJIANG ZHENENG NATURAL GAS OPERATION CO.,LTD. |